OpenRaiser/Intern-Atlas huggingface dataset:
A Sensor-Aware Phenomenological Framework for Lidar Degradation Simulation and SLAM Robustness Evaluation
Venue: arXiv cs.RO 2025
Year: 2025

Lidar-based SLAM systems are highly sensitive to adverse conditions such as occlusion, noise, and field-of-view (FoV) degradation, yet existing robustness evaluation methods either lack physical grounding or do not capture sensor-specific behavior. This paper presents a sensor-aware, phenomenological framework for simulating interpretable lidar degradations directly on real point clouds, enabling controlled and reproducible SLAM stress testing. Unlike image-derived corruption benchmarks (e.g., SemanticKITTI-C) or simulation-only approaches (e.g., lidarsim), the proposed system preserves per-point geometry, intensity, and temporal structure while applying structured dropout, FoV reduction, Gaussian noise, occlusion masking, sparsification, and motion distortion. The framework features autonomous topic and sensor detection, modular configuration with four severity tiers (light--extreme), and real-time performance (less than 20 ms per frame) compatible with ROS workflows. Experimental validation across three lidar architectures and five state-of-the-art SLAM systems reveals distinct robustness patterns shaped by sensor design and environmental context. The open-source implementation provides a practical foundation for benchmarking lidar-based SLAM under physically meaningful degradation scenarios.
Sim2Swim: Zero-Shot Velocity Control for Agile AUV Maneuvering in 3 Minutes
Venue: arXiv cs.RO 2025
Year: 2025

Holonomic autonomous underwater vehicles (AUVs) have the hardware ability for agile maneuvering in both translational and rotational degrees of freedom (DOFs). However, due to challenges inherent to underwater vehicles, such as complex hydrostatics and hydrodynamics, parametric uncertainties, and frequent changes in dynamics due to payload changes, control is challenging. Performance typically relies on carefully tuned controllers targeting unique platform configurations, and a need for re-tuning for deployment under varying payloads and hydrodynamic conditions. As a consequence, agile maneuvering with simultaneous tracking of time-varying references in both translational and rotational DOFs is rarely utilized in practice. To the best of our knowledge, this paper presents the first general zero-shot sim2real deep reinforcement learning-based (DRL) velocity controller enabling path following and agile 6DOF maneuvering with a training duration of just 3 minutes. Sim2Swim, the proposed approach, inspired by state-of-the-art DRL-based position control, leverages domain randomization and massively parallelized training to converge to field-deployable control policies for AUVs of variable characteristics without post-processing or tuning. Sim2Swim is extensively validated in pool trials for a variety of configurations, showcasing robust control for highly agile motions.
Dual-Branch Center-Surrounding Contrast: Rethinking Contrastive Learning for 3D Point Clouds
Venue: arXiv cs.CV 2025
Year: 2025

Most existing self-supervised learning (SSL) approaches for 3D point clouds are dominated by generative methods based on Masked Autoencoders (MAE). However, these generative methods have been proven to struggle to capture high-level discriminative features effectively, leading to poor performance on linear probing and other downstream tasks. In contrast, contrastive methods excel in discriminative feature representation and generalization ability on image data. Despite this, contrastive learning (CL) in 3D data remains scarce. Besides, simply applying CL methods designed for 2D data to 3D fails to effectively learn 3D local details. To address these challenges, we propose a novel Dual-Branch \textbf{C}enter-\textbf{S}urrounding \textbf{Con}trast (CSCon) framework. Specifically, we apply masking to the center and surrounding parts separately, constructing dual-branch inputs with center-biased and surrounding-biased representations to better capture rich geometric information. Meanwhile, we introduce a patch-level contrastive loss to further enhance both high-level information and local sensitivity. Under the FULL and ALL protocols, CSCon achieves performance comparable to generative methods; under the MLP-LINEAR, MLP-3, and ONLY-NEW protocols, our method attains state-of-the-art results, even surpassing cross-modal approaches. In particular, under the MLP-LINEAR protocol, our method outperforms the baseline (Point-MAE) by \textbf{7.9\%}, \textbf{6.7\%}, and \textbf{10.3\%} on the three variants of ScanObjectNN, respectively. The code will be made publicly available.
Model-based Testing of Practical Distributed Systems in Actor Model
Venue: arXiv cs.DC 2025
Year: 2025

Designing and implementing distributed systems correctly can be quite challenging. Although these systems are often accompanied by formal specifications that are verified using model-checking techniques, a gap still exists between the implementation and its formal specification: there is no guarantee that the implementation is free of bugs. To bridge this gap, we can use model-based testing. Specifically, if the model of the system can be interpreted as a finite-state automaton, we can generate an exhaustive test suite for the implementation that covers all possible states and transitions. In this paper, we discuss how to efficiently generate such a test suite for distributed systems written in the actor model. Importantly, our approach does not require any modifications to the code or interfering with the distributed system execution environment. As an example, we verified an implementation of a replication algorithm based on Viewstamped Replication, which is used in a real-world system.
Pose-Based Sign Language Spotting via an End-to-End Encoder Architecture
Venue: arXiv cs.CV 2025
Year: 2025

Automatic Sign Language Recognition (ASLR) has emerged as a vital field for bridging the gap between deaf and hearing communities. However, the problem of sign-to-sign retrieval or detecting a specific sign within a sequence of continuous signs remains largely unexplored. We define this novel task as Sign Language Spotting. In this paper, we present a first step toward sign language retrieval by addressing the challenge of detecting the presence or absence of a query sign video within a sentence-level gloss or sign video. Unlike conventional approaches that rely on intermediate gloss recognition or text-based matching, we propose an end-to-end model that directly operates on pose keypoints extracted from sign videos. Our architecture employs an encoder-only backbone with a binary classification head to determine whether the query sign appears within the target sequence. By focusing on pose representations instead of raw RGB frames, our method significantly reduces computational cost and mitigates visual noise. We evaluate our approach on the Word Presence Prediction dataset from the WSLP 2025 shared task, achieving 61.88\% accuracy and 60.00\% F1-score. These results demonstrate the effectiveness of our pose-based framework for Sign Language Spotting, establishing a strong foundation for future research in automatic sign language retrieval and verification. Code is available at https://github.com/EbimoJohnny/Pose-Based-Sign-Language-Spotting
Single-Agent Scaling Fails Multi-Agent Intelligence: Towards Foundation Models with Native Multi-Agent Intelligence
Venue: arXiv cs.AI 2025
Year: 2025

Foundation models (FMs) are increasingly assuming the role of the ''brain'' of AI agents. While recent efforts have begun to equip FMs with native single-agent abilities -- such as GUI interaction or integrated tool use -- we argue that the next frontier is endowing FMs with native multi-agent intelligence. We identify four core capabilities of FMs in multi-agent contexts: understanding, planning, efficient communication, and adaptation. Contrary to assumptions about the spontaneous emergence of such abilities, we provide extensive empirical evidence, across 41 large language models and 7 challenging benchmarks, showing that scaling single-agent performance alone does not automatically yield robust multi-agent intelligence. To address this gap, we outline key research directions -- spanning dataset construction, evaluation, training paradigms, and safety considerations -- for building FMs with native multi-agent intelligence.
Fluent Alignment with Disfluent Judges: Post-training for Lower-resource Languages
Venue: arXiv cs.CL 2025
Year: 2025

We propose a post-training method for lower-resource languages that preserves fluency of language models even when aligned by disfluent reward models. Preference-optimization is now a well-researched topic, but previous work has mostly addressed models for English and Chinese. Lower-resource languages lack both datasets written by native speakers and language models capable of generating fluent synthetic data. Thus, in this work, we focus on developing a fluent preference-aligned language model without any instruction-tuning data in the target language. Our approach uses an on-policy training method, which we compare with two common approaches: supervised finetuning on machine-translated data and multilingual finetuning. We conduct a case study on Norwegian Bokmål and evaluate fluency through native-speaker assessments. The results show that the on-policy aspect is crucial and outperforms the alternatives without relying on any hard-to-obtain data.
InfiniteVL: Synergizing Linear and Sparse Attention for Highly-Efficient, Unlimited-Input Vision-Language Models
Venue: arXiv cs.CV 2025
Year: 2025

Window attention and linear attention represent two principal strategies for mitigating the quadratic complexity and ever-growing KV cache in Vision-Language Models (VLMs). However, we observe that window-based VLMs suffer performance degradation when sequence length exceeds the window size, while linear attention underperforms on information-intensive tasks such as OCR and document understanding. To overcome these limitations, we propose InfiniteVL, a linear-complexity VLM architecture that synergizes sliding window attention (SWA) with Gated DeltaNet. For achieving competitive multimodal performance under constrained resources, we design a three-stage training strategy comprising distillation pretraining, instruction tuning, and long-sequence SFT. Remarkably, using less than 2\% of the training data required by leading VLMs, InfiniteVL not only substantially outperforms previous linear-complexity VLMs but also matches the performance of leading Transformer-based VLMs, while demonstrating effective long-term memory retention. Compared to similar-sized Transformer-based VLMs accelerated by FlashAttention-2, InfiniteVL achieves over 3.6\times inference speedup while maintaining constant latency and memory footprint. In streaming video understanding scenarios, it sustains a stable 24 FPS real-time prefill speed while preserving long-term memory cache. Code and models are available at https://github.com/hustvl/InfiniteVL.
Interpolation in Knowledge Representation
Venue: arXiv cs.AI 2025
Year: 2025

Craig interpolation and uniform interpolation have many applications in knowledge representation, including explainability, forgetting, modularization and reuse, and even learning. At the same time, many relevant knowledge representation formalisms do in general not have Craig or uniform interpolation, and computing interpolants in practice is challenging. We have a closer look at two prominent knowledge representation formalisms, description logics and logic programming, and discuss theoretical results and practical methods for computing interpolants.
A Methodology for Quantitative AI Risk Modeling
Venue: arXiv cs.CY 2025
Year: 2025

Although general-purpose AI systems offer transformational opportunities in science and industry, they simultaneously raise critical concerns about safety, misuse, and potential loss of control. Despite these risks, methods for assessing and managing them remain underdeveloped. Effective risk management requires systematic modeling to characterize potential harms, as emphasized in frameworks such as the EU General-Purpose AI Code of Practice. This paper advances the risk modeling component of AI risk management by introducing a methodology that integrates scenario building with quantitative risk estimation, drawing on established approaches from other high-risk industries. Our methodology models risks through a six-step process: (1) defining risk scenarios, (2) decomposing them into quantifiable parameters, (3) quantifying baseline risk without AI models, (4) identifying key risk indicators such as benchmarks, (5) mapping these indicators to model parameters to estimate LLM uplift, and (6) aggregating individual parameters into risk estimates that enable concrete claims (e.g., X% probability of >\$Y in annual cyber damages). We examine the choices that underlie our methodology throughout the article, with discussions of strengths, limitations, and implications for future research. Our methodology is designed to be applicable to key systemic AI risks, including cyber offense, biological weapon development, harmful manipulation, and loss-of-control, and is validated through extensive application in LLM-enabled cyber offense. Detailed empirical results and cyber-specific insights are presented in a companion paper.
SimpleDevQA: Benchmarking Large Language Models on Development Knowledge QA
Venue: arXiv cs.SE 2025
Year: 2025

The Development Knowledge Question Answering (Dev Knowledge QA) task aims to provide natural language answers to knowledge-seeking questions during software development. To investigate its importance and to what extent it has been explored, we analyze real user-LLM dialogues from WildChat and find that: (1) The Dev Knowledge QA task accounts for 39.6% of interactions(highest among all tasks), revealing broad knowledge needs beyond code generation (32.3%). (2) Only 27.5% of real Dev Knowledge QA dialogues focus on code understanding, leaving out development knowledge-seeking. (3) Only 17.1% of real-world Dev Knowledge QA dialogues can be used for constructing a benchmark. Existing benchmarks have two primary limitations for evaluating the Dev Knowledge QA capability of LLMs. First, existing benchmarks offer a limited development knowledge scope, mainly focusing on code understanding and neglecting broader knowledge during development. Second, some benchmarks are not built from real user queries. To bridge this gap, we design a three-phase pipeline that transforms real-world dialogue into simple development knowledge-seeking QA pairs. Through this pipeline, we introduce SimpleDevQA, a multilingual benchmark derived from real user dialogues. It contains 2,740 QA pairs in three languages (English, Chinese, and Russian), and focuses on questions with unique, short, and verifiable answers for accurate and simple evaluation. Experiments show that: Code LLMs generally outperform general LLMs of similar scale; Knowledge injection with the Retrieval-Augmented Generation (RAG) strategy can boost LLM accuracy by 11.3% on average; LLMs show systematic overconfidence in Dev Knowledge QA, and the answering accuracy of LLMs shows a positive correlation with their stated confidence; Generally, LLMs with stronger code generation performance also exhibit stronger performance in Dev Knowledge QA.
EcomBench: Towards Holistic Evaluation of Foundation Agents in E-commerce
Venue: arXiv cs.AI 2025
Year: 2025

Foundation agents have rapidly advanced in their ability to reason and interact with real environments, making the evaluation of their core capabilities increasingly important. While many benchmarks have been developed to assess agent performance, most concentrate on academic settings or artificially designed scenarios while overlooking the challenges that arise in real applications. To address this issue, we focus on a highly practical real-world setting, the e-commerce domain, which involves a large volume of diverse user interactions, dynamic market conditions, and tasks directly tied to real decision-making processes. To this end, we introduce EcomBench, a holistic E-commerce Benchmark designed to evaluate agent performance in realistic e-commerce environments. EcomBench is built from genuine user demands embedded in leading global e-commerce ecosystems and is carefully curated and annotated through human experts to ensure clarity, accuracy, and domain relevance. It covers multiple task categories within e-commerce scenarios and defines three difficulty levels that evaluate agents on key capabilities such as deep information retrieval, multi-step reasoning, and cross-source knowledge integration. By grounding evaluation in real e-commerce contexts, EcomBench provides a rigorous and dynamic testbed for measuring the practical capabilities of agents in modern e-commerce.
Explainable Anomaly Detection for Industrial IoT Data Streams
Venue: arXiv cs.LG 2025
Year: 2025

Industrial maintenance is being transformed by the Internet of Things and edge computing, generating continuous data streams that demand real-time, adaptive decision-making under limited computational resources. While data stream mining (DSM) addresses this challenge, most methods assume fully supervised settings, yet in practice, ground-truth labels are often delayed or unavailable. This paper presents a collaborative DSM framework that integrates unsupervised anomaly detection with interactive, human-in-the-loop learning to support maintenance decisions. We employ an online Isolation Forest and enhance interpretability using incremental Partial Dependence Plots and a feature importance score, derived from deviations of Individual Conditional Expectation curves from a fading average, enabling users to dynamically reassess feature relevance and adjust anomaly thresholds. We describe the real-time implementation and provide initial results for fault detection in a Jacquard loom unit. Ongoing work targets continuous monitoring to predict and explain imminent bearing failures.
Improved Pseudorandom Codes from Permuted Puzzles
Venue: arXiv cs.CR 2025
Year: 2025

Watermarks are an essential tool for identifying AI-generated content. Recently, Christ and Gunn (CRYPTO '24) introduced pseudorandom error-correcting codes (PRCs), which are equivalent to watermarks with strong robustness and quality guarantees. A PRC is a pseudorandom encryption scheme whose decryption algorithm tolerates a high rate of errors. Pseudorandomness ensures quality preservation of the watermark, and error tolerance of decryption translates to the watermark's ability to withstand modification of the content. In the short time since the introduction of PRCs, several works (NeurIPS '24, RANDOM '25, STOC '25) have proposed new constructions. Curiously, all of these constructions are vulnerable to quasipolynomial-time distinguishing attacks. Furthermore, all lack robustness to edits over a constant-sized alphabet, which is necessary for a meaningfully robust LLM watermark. Lastly, they lack robustness to adversaries who know the watermarking detection key. Until now, it was not clear whether any of these properties was achievable individually, let alone together. We construct pseudorandom codes that achieve all of the above: plausible subexponential pseudorandomness security, robustness to worst-case edits over a binary alphabet, and robustness against even computationally unbounded adversaries that have the detection key. Pseudorandomness rests on a new assumption that we formalize, the permuted codes conjecture, which states that a distribution of permuted noisy codewords is pseudorandom. We show that this conjecture is implied by the permuted puzzles conjecture used previously to construct doubly efficient private information retrieval. To give further evidence, we show that the conjecture holds against a broad class of simple distinguishers, including read-once branching programs.
Unified Diffusion Transformer for High-fidelity Text-Aware Image Restoration
Venue: arXiv cs.CV 2025
Year: 2025

Text-Aware Image Restoration (TAIR) aims to recover high-quality images from low-quality inputs containing degraded textual content. While diffusion models provide strong generative priors for general image restoration, they often produce text hallucinations in text-centric tasks due to the absence of explicit linguistic knowledge. To address this, we propose UniT, a unified text restoration framework that integrates a Diffusion Transformer (DiT), a Vision-Language Model (VLM), and a Text Spotting Module (TSM) in an iterative fashion for high-fidelity text restoration. In UniT, the VLM extracts textual content from degraded images to provide explicit textual guidance. Simultaneously, the TSM, trained on diffusion features, generates intermediate OCR predictions at each denoising step, enabling the VLM to iteratively refine its guidance during the denoising process. Finally, the DiT backbone, leveraging its strong representational power, exploit these cues to recover fine-grained textual content while effectively suppressing text hallucinations. Experiments on the SA-Text and Real-Text benchmarks demonstrate that UniT faithfully reconstructs degraded text, substantially reduces hallucinations, and achieves state-of-the-art end-to-end F1-score performance in TAIR task.
Selfi: Self Improving Reconstruction Engine via 3D Geometric Feature Alignment
Venue: arXiv cs.CV 2025
Year: 2025

Novel View Synthesis (NVS) has traditionally relied on models with explicit 3D inductive biases combined with known camera parameters from Structure-from-Motion (SfM) beforehand. Recent vision foundation models like VGGT take an orthogonal approach -- 3D knowledge is gained implicitly through training data and loss objectives, enabling feed-forward prediction of both camera parameters and 3D representations directly from a set of uncalibrated images. While flexible, VGGT features lack explicit multi-view geometric consistency, and we find that improving such 3D feature consistency benefits both NVS and pose estimation tasks. We introduce Selfi, a self-improving 3D reconstruction pipeline via feature alignment, transforming a VGGT backbone into a high-fidelity 3D reconstruction engine by leveraging its own outputs as pseudo-ground-truth. Specifically, we train a lightweight feature adapter using a reprojection-based consistency loss, which distills VGGT outputs into a new geometrically-aligned feature space that captures spatial proximity in 3D. This enables state-of-the-art performance in both NVS and camera pose estimation, demonstrating that feature alignment is a highly beneficial step for downstream 3D reasoning.